JP7069503B2 - Aircraft and sensor unit - Google Patents

Description

The present invention relates to a moving body and a sensor unit.

Patent Document 1 discloses an unmanned aerial vehicle including a multi-band sensor and an illuminance sensor.
[Prior Art Document]
[Patent Document]
[Patent Document 1] US Patent Application Publication No. 2017/0356799

It is desired to arrange the illuminance sensor in a limited space without deteriorating the accuracy of measurement.

The moving body according to one aspect of the present invention may include a housing having a portion that transmits light. The moving body may include a light receiving element arranged inside the housing. The moving body may include a light guide member that is arranged inside the housing and guides the light transmitted through the portion to the light receiving element.

The above portion of the housing may have a first diffusing plate that diffuses light from the outside of the housing.

The moving body may be arranged between the light guide member and the light receiving element, and may include a second diffuser plate that diffuses the light from the light guide member.

The first transmittance, which indicates the ratio of light in the first wavelength region transmitted in the thickness direction of the first diffuser plate, is the light in the second wavelength region, which is a wavelength region longer than the first wavelength region in the thickness direction of the first diffuser plate. May be smaller than the second transmittance, which indicates the rate of transmission.

The first wavelength region may include a blue region and the second wavelength region may include a red region.

The difference between the first transmittance and the second transmittance is the third transmittance, which indicates the ratio of light transmitted in the first wavelength region in the thickness direction of the second diffuser, and the second wavelength in the thickness direction of the second diffuser. It may be larger than the difference from the fourth transmittance, which indicates the ratio of light transmitted through the region.

The moving body may include an antenna that is arranged inside the housing and is arranged so as to surround the light guide member.

The antenna may be a hollow antenna. The light guide member may be arranged in the cavity of the antenna.

The antenna may be a coiled antenna.

The mobile body may include a circuit that measures the position of the mobile body based on the signal received by the antenna.

The moving body may include a hollow cover that covers the outer surface of the light guide member. The outer surface of the light guide member and the inner surface of the cover may be separated from each other.

The moving body may include a plurality of light receiving elements, a plurality of light guide members, and a plurality of covers. The moving body may be arranged inside the housing and may include a holding member that holds a plurality of covers inside.

The cover may be a white member. The holding member may be a black member.

The holding member may have a plurality of through holes for accommodating the plurality of covers.

The housing may be arranged on the ceiling of the moving body.

The light guide member may be rod-shaped. The central axis of the light receiving surface of the light receiving element and the central axis of the light guide member may be on the same straight line.

The sensor unit according to one aspect of the present invention may include a housing having a portion that transmits light. The sensor unit may include a light receiving element arranged inside the housing. The sensor unit may include a light guide member that is arranged inside the housing and guides the light transmitted through the portion to the light receiving element. The sensor unit may be arranged inside the housing and may include an antenna that surrounds the light guide member.

The above portion of the housing may have a first diffusing plate that diffuses light from the outside of the housing.

The sensor unit may be arranged between the light guide member and the light receiving element, and may include a second diffuser plate that diffuses the light from the light guide member.

The sensor unit according to one aspect of the present invention may include a housing having a first diffusion plate that diffuses and transmits light from the outside. The sensor unit may include a light receiving element arranged inside the housing. The sensor unit may be arranged inside the housing and may include a light guide member that guides the light transmitted through the first diffusion plate to the light receiving element. The sensor unit may be arranged between the light guide member and the light receiving element, and may include a second diffuser plate that diffuses the light from the light guide member.

According to one aspect of the present invention, the light receiving element that can be used for the illuminance sensor can be arranged in a limited space without deteriorating the measurement accuracy.

The outline of the above invention does not list all the necessary features of the present invention. A subcombination of these feature groups can also be an invention.

It is a figure which shows an example of the appearance of an unmanned aerial vehicle (UAV) and a remote control device. It is a figure which shows an example of the appearance of the image pickup system mounted on a UAV. It is a figure which shows another example of the appearance of the image pickup system mounted on a UAV. It is a figure which shows an example of the functional block of a UAV. It is a figure which shows the external perspective view of the sensor unit. It is a figure which shows the exploded perspective view of a sensor unit. It is a figure which shows the sectional view of the sensor unit. It is a figure which shows the partially enlarged view of the cross section of a sensor unit. It is a figure for demonstrating the incident angle. It is a figure which shows an example of the relationship between the illuminance and the wavelength measured by the illuminance sensor when the incident angle is 0 degree. It is a figure which shows an example of the relationship between the illuminance and the wavelength measured by the illuminance sensor when the incident angle is 0 degree or more. It is a figure which shows an example of the relationship between the transmittance of a diffuser plate and a wavelength. It is a figure which shows an example of the relationship between the transmittance of a diffuser plate and a wavelength. It is a figure which shows the pattern of the combination of the 1st diffusion plate and the 2nd diffusion plate. It is a figure which shows the width (%) of each variation of the pattern of the combination of the 1st diffusion plate and the 2nd diffusion plate of FIG. It is a figure which shows the pattern of the combination of the 1st diffusion plate and the 2nd diffusion plate. It is a figure which shows the width (%) of each variation of the pattern of the combination of the 1st diffusion plate and the 2nd diffusion plate of FIG.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention. It will be apparent to those skilled in the art that various changes or improvements can be made to the following embodiments. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present invention.

The claims, description, drawings, and abstracts include matters subject to copyright protection. The copyright holder will not object to any person's reproduction of these documents as long as they appear in the Patent Office files or records. However, in other cases, all copyrights are reserved.

FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a remote control device 300. The UAV 10 includes a UAV main body 20, a gimbal 50, a plurality of image pickup devices 60, an image pickup system 100, and a sensor unit 600. UAV10 is an example of a moving body. The moving body is a concept including a flying body moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like. An airship that moves in the air is a concept that includes UAVs, other aircraft that move in the air, airships, helicopters, and the like.

The UAV main body 20 includes a plurality of rotary wings. The plurality of rotor blades are an example of a propulsion unit. The UAV main body 20 flies the UAV 10 by controlling the rotation of a plurality of rotary blades. The UAV body 20 flies the UAV 10 using, for example, four rotor blades. The number of rotor blades is not limited to four. Further, the UAV 10 may be a fixed-wing aircraft having no rotor blades.

The sensor unit 600 includes an illuminance sensor and an RTK. The imaging system 100 is a multispectral camera for imaging that captures an object included in a desired imaging range for each of a plurality of wavelength bands. The gimbal 50 rotatably supports the imaging system 100. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 rotatably supports the imaging system 100 on a pitch axis using an actuator. The gimbal 50 further rotatably supports the image pickup system 100 around each of the roll axis and the yaw axis by using an actuator. The gimbal 50 may change the posture of the image pickup system 100 by rotating the image pickup system 100 around at least one of the yaw axis, the pitch axis, and the roll axis.

The plurality of image pickup devices 60 are sensing cameras that image the surroundings of the UAV 10 in order to control the flight of the UAV 10. Two image pickup devices 60 may be provided in front of the nose of the UAV 10. Yet two other imaging devices 60 may be provided on the bottom surface of the UAV 10. The two image pickup devices 60 on the front side may be paired and function as a so-called stereo camera. The two image pickup devices 60 on the bottom side may also be paired and function as a stereo camera. The image pickup device 60 may measure the existence of an object included in the image pickup range of the image pickup device 60 and the distance to the object. The image pickup device 60 is an example of a measurement device that measures an object existing in the image pickup direction of the image pickup system 100. The measuring device may be another sensor such as an infrared sensor or an ultrasonic sensor that measures an object existing in the imaging direction of the imaging system 100. Three-dimensional spatial data around the UAV 10 may be generated based on the images captured by the plurality of image pickup devices 60. The number of image pickup devices 60 included in the UAV 10 is not limited to four. The UAV 10 may include at least one image pickup device 60. The UAV 10 may be provided with at least one image pickup device 60 on each of the nose, tail, side surface, bottom surface, and ceiling surface of the UAV 10. The angle of view that can be set by the image pickup apparatus 60 may be wider than the angle of view that can be set by the image pickup system 100. The image pickup apparatus 60 may have a single focus lens or a fisheye lens.

The remote control device 300 communicates with the UAV 10 to remotely control the UAV 10. The remote control device 300 may communicate wirelessly with the UAV 10. The remote control device 300 transmits to the UAV 10 instruction information indicating various commands related to the movement of the UAV 10, such as ascending, descending, accelerating, decelerating, advancing, reversing, and rotating. The instruction information includes, for example, instruction information for raising the altitude of the UAV 10. The instruction information may indicate the altitude at which the UAV 10 should be located. The UAV 10 moves so as to be located at an altitude indicated by the instruction information received from the remote control device 300. The instruction information may include an ascending instruction to elevate the UAV 10. The UAV10 rises while accepting the rise order. Even if the UAV10 accepts an ascending order, the ascending may be restricted if the altitude of the UAV10 has reached the upper limit altitude.

FIG. 2 is a diagram showing an example of the appearance of the image pickup system 100 mounted on the UAV 10. The image pickup system 100 is a multispectral camera that captures image data for each of a plurality of predetermined wavelength bands. The image pickup system 100 includes an image pickup device 110 for R, an image pickup device 120 for G, an image pickup device 130 for B, an image pickup device 140 for RE, and an image pickup device 150 for NIR. The image pickup system 100 records each image data captured by the image pickup device 110 for R, the image pickup device 120 for G, the image pickup device 130 for B, the image pickup device 140 for RE, and the image pickup device 150 for NIR as a multispectral image. be able to. Multispectral images may be used, for example, to make predictions about the health and vitality of crops.

ＩＲは、近赤外線領域の反射率、Ｒは、可視領域の赤色の反射率を示す。 Multispectral images are used, for example, to calculate the Normalized Difference Vegetation Index (NDVI). NDVI is expressed by the following equation.

IR indicates the reflectance in the near infrared region, and R indicates the reflectance in the red region in the visible region.

The R image pickup device 110 has a filter that transmits light in the wavelength band of the red region, and outputs an R image signal that is an image signal in the wavelength band of the red region. The wavelength band in the red region is, for example, 620 nm to 750 nm. The wavelength band in the red region may be a specific wavelength band in the red region, and may be, for example, 663 nm to 673 nm.

The G image pickup device 120 has a filter that transmits light in the wavelength band of the green region, and outputs a G image signal that is an image signal in the wavelength band of the green region. The wavelength band in the green region is, for example, 500 nm to 570 nm. The wavelength band in the green region may be a specific wavelength band in the green region, and may be, for example, 550 nm to 570 nm.

The image pickup apparatus 130 for B has a filter that transmits light in the wavelength band in the blue region, and outputs a B image signal that is an image signal in the wavelength band in the blue region. The wavelength band in the blue region is, for example, 450 nm to 500 nm. The wavelength band in the blue region may be a specific wavelength band in the blue region, and may be, for example, 465 nm to 485 nm.

The RE image pickup apparatus 140 has a filter that transmits light in the wavelength band of the red edge region, and outputs a RE image signal that is an image signal in the wavelength band of the red edge region. The wavelength band in the red edge region is, for example, 705 nm to 745 nm. The wavelength band in the red edge region may be 712 nm to 722 nm.

The NIR image pickup device 150 has a filter that transmits light in a wavelength band in the near infrared region, and outputs a NIR image signal that is an image signal in the wavelength band in the near infrared region. The wavelength band in the near infrared region is, for example, 800 nm to 2500 nm. The wavelength band in the near infrared region may be 800 nm to 900 nm.

FIG. 3 is a diagram showing another example of the appearance of the image pickup system 100 mounted on the UAV 10. The image pickup system 100 includes an RGB image pickup device 160 in addition to the G image pickup device 120, the B image pickup device 130, the RE image pickup device 140, and the NIR image pickup device 150, and the image pickup system 100 shown in FIG. Different from. The RGB image pickup device 160 may be similar to a normal camera, and has an optical system and an image sensor. The image sensor has a filter that transmits light in the wavelength band in the red region, a filter that transmits light in the wavelength band in the green region, and a filter that transmits light in the wavelength band in the blue region, which are arranged in a bayer arrangement. It's okay. The RGB image pickup apparatus 160 may output an RGB image. The wavelength band in the red region may be, for example, 620 nm to 750 nm. The wavelength band in the green region may be, for example, 500 nm to 570 nm. The wavelength band in the blue region is, for example, 450 nm to 500 nm.

FIG. 4 shows an example of a functional block of UAV10. The UAV 10 includes a UAV control unit 30, a memory 32, a communication interface 36, a propulsion unit 40, a GPS receiver 41, an inertial measurement unit 42, a magnetic compass 43, a barometric pressure meter 44, a temperature sensor 45, a humidity sensor 46, a gimbal 50, and an image pickup device. The 60 and the imaging system 100 are provided.

The communication interface 36 communicates with another device such as the remote control device 300. The communication interface 36 may receive instruction information including various commands from the remote control device 300 to the UAV control unit 30. In the memory 32, the UAV control unit 30 has a propulsion unit 40, a GPS receiver 41, an inertial measurement unit (IMU) 42, a magnetic compass 43, a barometric altimeter 44, a temperature sensor 45, a humidity sensor 46, a gimbal 50, an image pickup device 60, and the like. And a program and the like necessary for controlling the image pickup system 100 are stored. The memory 32 may be a computer-readable recording medium and may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 32 may be provided inside the UAV main body 20. It may be provided so as to be removable from the UAV main body 20.

The UAV control unit 30 controls the flight and imaging of the UAV 10 according to the program stored in the memory 32. The UAV control unit 30 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The UAV control unit 30 controls the flight and imaging of the UAV 10 according to a command received from the remote control device 300 via the communication interface 36. The propulsion unit 40 promotes the UAV 10. The propulsion unit 40 has a plurality of rotary blades and a plurality of drive motors for rotating the plurality of rotary blades. The propulsion unit 40 rotates a plurality of rotor blades via a plurality of drive motors in accordance with a command from the UAV control unit 30, and causes the UAV 10 to fly.

The GPS receiver 41 receives a plurality of signals indicating the time transmitted from the plurality of GPS satellites. The GPS receiver 41 calculates the position (latitude and longitude) of the GPS receiver 41, that is, the position (latitude and longitude) of the UAV 10 based on the plurality of received signals. The IMU 42 detects the posture of the UAV 10. The IMU 42 detects, as the posture of the UAV 10, the acceleration in the front-back, left-right, and up-down triaxial directions of the UAV 10, and the angular velocity in the three axial directions of pitch, roll, and yaw. The magnetic compass 43 detects the orientation of the nose of the UAV 10. The barometric altimeter 44 detects the altitude at which the UAV 10 flies. The barometric altimeter 44 detects the barometric pressure around the UAV 10, converts the detected barometric pressure into an altitude, and detects the altitude. The temperature sensor 45 detects the ambient temperature of the UAV 10. The humidity sensor 46 detects the humidity around the UAV 10.

The UAV 10 further includes a sensor unit 600. The sensor unit 600 has an MCU70, an RTK80, and an illuminance sensor 500. The MCU 70 is a control circuit that controls the RTK 80 and the illuminance sensor 500. The RTK80 is a real-time kinematic GPS. The RTK80 positions the position of the UAV 10 by RTK positioning based on the position information of the base station installed at a predetermined position. The illuminance sensor 500 measures the ambient illuminance.

The image pickup system 100 may execute the image pickup control based on the illuminance measured by the illuminance sensor 500. The image pickup system 100 may execute exposure control for each color based on the illuminance for each color measured by the illuminance sensor 500. Based on the illuminance for each color measured by the illuminance sensor 500, the image pickup system 100 includes an image pickup device 110 for R, an image pickup device 120 for G, an image pickup device 130 for B, an image pickup device 140 for RE, and an image pickup device 150 for NIR. Exposure control may be performed.

Here, in order for the illuminance sensor 500 to accurately measure the illuminance of the surrounding environment, it is preferable that there are no obstacles around the illuminance sensor 500. The illuminance sensor 500 is preferably arranged on the ceiling of the UAV 10. The ceiling portion is the upper part of the housing of the UAV 10. The upper portion of the housing of the UAV 10 is a portion located on the upper side in the vertical direction when the UAV 10 is hovering. The ceiling portion is a portion facing the sky of the housing of the UAV 10 when the UAV 10 is hovering. The ceiling portion is a portion opposite to the bottom portion of the housing facing the ground when the UAV 10 is in the landing state.

Further, since the RTK80 receives signals from a base station, a satellite, and the like, it is preferable that there are no obstacles around the RTK80. Therefore, it is preferable that the RTK80 is also arranged on the ceiling of the UAV10. However, the space on the ceiling of the UAV 10 is limited. Therefore, in the present embodiment, the illuminance sensor 500 and the RTK80 are arranged in the space on the ceiling of the UAV 10 so that the illuminance sensor 500 and the RTK80 do not interfere with each other.

FIG. 5 is an external perspective view of the sensor unit 600 including the illuminance sensor 500 and the RTK80. In FIG. 5, the housing 502 of the sensor unit 600 is shown semi-transparently for visualizing the inside. FIG. 6 shows an exploded perspective view of the sensor unit 600.

The sensor unit 600 includes a first diffuser plate 510, a housing 502, a cylinder 524, a plurality of rod covers 522, a plurality of light guide members 520, a plurality of second diffuser plates 512, a plurality of light receiving elements 504, an antenna 82, and a base. It has a stand 501. The cylinder 524, the rod cover 522, the second diffuser plate 512, the light receiving element 504, and the antenna 82 are arranged inside the housing 502. In this embodiment, an example in which the housing of the UAV main body 20 of the UAV 10 and the housing of the sensor unit 600 are separately configured will be described. However, the housing of the UAV main body 20 of the UAV 10 and the housing of the sensor unit 600 may be integrally configured. The sensor unit 600 may be incorporated in the housing of the UAV main body 20.

The antenna 82 functions as an antenna of the RTK80. The antenna 82 is a hollow antenna. The antenna 82 is a coiled antenna. The antenna 82 may be spirally arranged along the inner side surface of the housing 502.

The antenna 82 receives position information from each of a base station and a GPS satellite arranged at predetermined positions. In order to arrange the illuminance sensor 500 in a space where there are no obstacles in the surroundings, it is conceivable to arrange the illuminance sensor 500 on the ceiling of the housing 502. However, when the illuminance sensor 500 is arranged on the ceiling of the housing 502, the electromagnetic noise generated by the illuminance sensor 500 may interfere with the signal received by the antenna 82.

Therefore, in the present embodiment, the illuminance sensor 500 is arranged in the cavity of the antenna 82. This prevents the electromagnetic noise generated by the illuminance sensor 500 from interfering with the signal received by the antenna 82.

The housing 502 has a portion that transmits light. The portion that transmits light has a first diffusion plate 510 that diffuses light from the outside of the housing 502. The light receiving element 504 functions as a light receiving unit of the illuminance sensor 500. The light receiving element 504 receives light and converts the received light into an electric signal. The illuminance sensor 500 measures the illuminance based on the electric signal output from the light receiving element 504. Each of the plurality of light receiving elements 504 may receive a wavelength in a different range. The first light receiving element among the plurality of light receiving elements 504 may receive a wavelength in the range of 400 nm or more and 700 nm or less. The second light receiving element among the plurality of light receiving elements 504 may receive a wavelength in the range of 700 nm or more and 900 nm or less. The third light receiving element among the plurality of light receiving elements 504 may receive a wavelength in the range of 900 nm or more and 1500 nm or less.

The light guide member 520 guides the light transmitted through the first diffusion plate 510 to the light receiving element 504. The second diffuser plate 512 is arranged between the light guide member 520 and the light receiving element 504, and diffuses the light from the light guide member 520. The light guide member 520 has a rod shape. The light guide member 520 may be arranged along the direction from the ceiling portion to the bottom portion of the housing 502. The light guide member 520 may be arranged so as to stand on the base 501.

The first diffusion plate 510, the second diffusion plate 512, and the light guide member 520 may be made of a resin such as polycarbonate, polystyrene, Teflon (registered trademark), and acrylic.

The antenna 82 is arranged so as to surround the light guide member 520. The light guide member 520 is arranged in the cavity of the antenna 82. By arranging the antenna 82 outside the light guide member 520, the signal can be received without being affected by the electromagnetic noise of the illuminance sensor 500.

In this embodiment, the antenna 82 is a coiled antenna. However, the antenna 82 may be composed of, for example, a plurality of pole-shaped antennas, and the plurality of pole-shaped antennas may be arranged so as to surround the periphery of the plurality of light guide members 520.

The rod cover 522 is a hollow cover that covers the outer surface of the light guide member 520. The outer surface of the light guide member 520 and the inner surface of the rod cover 522 are separated from each other. The cylinder 524 is a holding member that holds a plurality of rod covers 522 inside. The cylinder 524 has a plurality of through holes 525 that accommodate a plurality of rod covers 522. The rod cover 522 may be made of resin. The rod cover 522 is preferably made of a white member. As a result, the light guided to the light guide member 520 is efficiently reflected by the rod cover 522 and can travel inside the light guide member 520. Further, the cylinder 524 may be made of resin. The cylinder 524 is preferably made of a black member. This makes it possible to prevent extra light from entering the light guide member 520 from the outside.

FIG. 7 shows a cross-sectional view of the sensor unit 600. The sensor unit 600 is further provided with a substrate 530 on which the MCU 70 is mounted and a substrate 532 on which the antenna 82 and the light receiving element 504 are mounted.

FIG. 8 is an enlarged cross-sectional view of the light receiving element 504 and the light guide member 520. As shown in FIG. 8, the central axis of the light receiving surface of the light receiving element 504 and the central axis of the light guide member 520 are on the same straight line 508. As a result, the light receiving element 504 can efficiently receive the light guided by the light guide member 520.

By the way, when the illuminance sensor 500 is used in fine weather, the illuminance in the short wavelength range such as blue and green becomes larger than the illuminance in the long wavelength range such as red due to the influence of Rayleigh scattering. However, even when the illuminance sensor 500 is used in fine weather, when the illuminance sensor 500 is exposed to direct sunlight, the influence of Rayleigh scattering can be ignored and the difference in illuminance for each wavelength is small. That is, the angle of the sunlight changes depending on the posture of the illuminance sensor 500, and the illuminance for each wavelength changes. For example, as shown in FIG. 9, when the incident angle θ indicating the angle of the incident direction 507 of sunlight with respect to the direction 506 perpendicular to the light receiving surface 505 of the light receiving element 504 changes, each wavelength measured by the illuminance sensor 500 changes. The illuminance changes. FIG. 10A shows the illuminance for each wavelength measured by the illuminance sensor 500 when the incident angle θ is 0 degrees. FIG. 10B shows the illuminance for each wavelength measured by the illuminance sensor 500 when the incident angle θ is larger than 0 degrees.

When the illuminance sensor 500 is exposed to direct sunlight, the influence of Rayleigh scattering can be ignored and the change in illuminance for each wavelength is small, as shown in FIG. 10A. On the other hand, when the light receiving surface 505 of the light receiving element 504 is not exposed to direct sunlight and the weather is fine, as shown in FIG. 10B, the illuminance in the short wavelength range such as blue and green is higher than the illuminance in the long wavelength range such as red. Will also grow.

However, even if the posture of the illuminance sensor 500 changes, the illuminance ratio (spectral ratio) for each wavelength is preferably constant. For example, the ratio V _B / V _NIR of the blue illuminance V _B and the near infrared illuminance _VNIR is preferably constant even if the attitude of the illuminance sensor 500 changes.

Therefore, in the present embodiment, the first diffusion plate 510 is arranged on the incident surface side of the light guide member 520, and the second diffusion plate 512 is arranged on the emission surface side of the light guide member 520. As a result, even if the posture of the illuminance sensor 500 changes, the ratio of the illuminance for each wavelength does not change.

The first diffuser 510 diffuses light of short wavelength more than light of long wavelength. As a result, more short-wavelength light is guided into the light guide member 520 than long-wavelength light. Therefore, even when the sensor unit 600 is exposed to direct sunlight, the illuminance in the short wavelength range such as blue and green becomes larger than the illuminance in the long wavelength range such as red.

Further, the second diffuser plate 512 diffuses the light that has traveled in the light guide member 520 and evenly irradiates the light receiving surface of the light receiving element 504. As a result, the light that has traveled through the light guide member 520 can be efficiently received by the light receiving surface of the light receiving element 504.

Furthermore, the applicant has found that by adjusting the light transmittance in the thickness direction of the first diffusion plate 510 according to the wavelength, the change in the illuminance ratio for each wavelength according to the incident angle θ is reduced. .. More specifically, the applicant has determined that the first transmittance, which indicates the ratio of light transmitted in the first wavelength region including the blue wavelength region in the thickness direction of the first diffuser plate 510, is the thickness of the first diffuser plate 510. It was found that the change in the illuminance ratio for each wavelength according to the incident angle θ is small because it is smaller than the second transmittance, which indicates the ratio of light transmitted in the second wavelength region including the red wavelength region in the direction. .. Here, the second wavelength region is a wavelength region longer than the first wavelength region.

The applicant further indicates that the difference between the first transmittance and the second transmittance of the first diffuser plate 510 indicates the ratio of the light in the first wavelength region transmitted in the thickness direction of the second diffuser plate 512. It was found that the change in the illuminance ratio for each wavelength is small because the difference between the rate and the fourth transmittance, which indicates the ratio of light transmitted in the second wavelength region in the thickness direction of the second diffuser plate 512, is larger. ..

When the transmittance in the thickness direction of the diffuser is small, the light is diffused in a direction other than the thickness direction than when the transmittance in the thickness direction of the diffuser is large. That is, when the transmittance in the thickness direction of the diffuser plate is small, the degree of light diffusion of the diffuser plate is larger than that in the case where the transmittance in the thickness direction of the diffuser plate is large.

Hereinafter, when a plurality of diffusion plates having different transmittances in the thickness direction were used for the first diffusion plate 510 and the second diffusion plate 512, the degree of variation in the illuminance ratio according to the incident angle θ was measured. The experimental results will be described.

The variation in the illuminance ratio for each incident angle θ was measured based on the following equation.

Here, X _G (θ _n ) indicates the variation in the ratio of the illuminance in the green region G and the illuminance in the near infrared region NIR when the incident angle is θ _n . V _NIR (θ _n ) / VG (θ _n ) indicates the ratio of the illuminance of the green region _G to the illuminance of the near infrared region NIR when the incident angle is θ _n . n represents a natural number. Here, n is 1 to 8.

The incident angle θ ₁ is 0 degrees, the incident angle θ ₂ is 10 degrees, the incident angle θ ₃ is 20 degrees, the incident angle θ ₄ is 30 degrees, the incident angle θ ₅ is 40 degrees, the incident angle θ ₆ is 50 degrees, and the incident angle is 50 degrees. θ ₇ indicates 60 degrees, and the incident angle θ ₈ indicates 70 degrees.

_VNIR (θ _n ) / VG (θ _n ) was measured at the incident angle θ _n of 8 patterns, and the maximum V _NIR (θ _n ) / _VG selected from the incident angles _{θ n} of 8 patterns. The difference between (θ _n ) and the minimum _VNIR (θ _n ) / _VG (θ _n ) is derived. Here, the difference is referred to as a variation width (%). A small variation width (%) means that the variation in the illuminance ratio according to the incident angle θ is small.

Here, the combination of the first diffusion plate 510 and the second diffusion plate 512 having a variation width (%) of 6% or less is defined as “good”.

11 and 12 show the characteristics of the transmittance of the diffuser plates used for the first diffuser plate 510 and the second diffuser plate 512 for each wavelength. The width (%) of variation when two selected diffusion plates were used for each of the first diffusion plate 510 and the second diffusion plate 512 from the diffusion plates A to L was measured.

FIG. 13 shows a pattern of the combination of the first diffusion plate 510 and the second diffusion plate 512. FIG. 13 shows that the diffuser plate J was used as the first diffuser plate 510, and any of the diffuser plate A, the diffuser plate B, the diffuser plate C, and the diffuser plate D was used as the second diffuser plate 512. ..

FIG. 14 shows the width (%) of each variation of the pattern of the combination of the first diffusion plate 510 and the second diffusion plate 512 of FIG.

FIG. 15 shows a pattern of a combination of the first diffusion plate 510 and the second diffusion plate 512. In FIG. 15, a diffuser plate C is used as the first diffuser plate 510, and a diffuser plate C, a diffuser plate A, a diffuser plate E, a diffuser plate F, a diffuser plate G, a diffuser plate H, and a diffuser plate 512 are used as the second diffuser plate 512. It is shown that any one of the plate I, the diffusion plate J, the diffusion plate K, and the diffusion plate L was used.

FIG. 16 shows the width (%) of each variation of the pattern of the combination of the first diffusion plate 510 and the second diffusion plate 512 of FIG.

As a result of these measurements, as the first diffusion plate 510, the transmittance is 30% or more and 40% or less when the wavelength is 830 nm or more and 890 nm or less, and the transmittance is 12% or more and 22 when the wavelength is 430 nm or more and 490 nm or less. The applicant has found that a "good" result can be obtained by using a diffuser of% or less.

Further, as the second diffusion plate 512, a diffusion plate having a wavelength of 830 nm or more and 890 nm or less and a transmittance of 48% or more and 60% or less, and a wavelength of 430 nm or more and 490 nm or less and a transmittance of 55% or more and 70% or less. The applicant has found that a "good" result can be obtained by using.

That is, the applicant can suppress the variation in the ratio of the illuminance according to the incident angle θ by using the combination of the first diffusion plate 510 and the second diffusion plate 512 of the diffusion plates satisfying the above conditions. I found out what I could do.

As described above, according to the sensor unit 600 according to the present embodiment, the illuminance sensor 500 can be arranged in a limited space without deteriorating the measurement accuracy. Further, when the illuminance sensor 500 and the RTK80 are arranged adjacent to each other in a limited space, it is possible to prevent the electromagnetic noise generated by the illuminance sensor 500 from interfering with the signal received by the antenna 82 of the RTK80.

The order of execution of each process such as operation, procedure, step, and step in the apparatus, system, program, and method shown in the claims, the specification, and the drawing is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present invention.

10 UAV
20 UAV main unit 30 UAV control unit 32 Memory 36 Communication interface 40 Propulsion unit 41 GPS receiver 42 Inertivity measuring device 43 Magnetic compass 44 Atmospheric pressure sensor 45 Temperature sensor 46 Humidity sensor 50 Gimbal 60 Imaging device 82 Antenna 100 Imaging system 110 R imaging device 120 G imager 130 B imager 140 RE imager 150 NIR imager 160 RGB imager 300 Remote control device 500 Illumination sensor 501 Base 502 Housing 504 Light receiving element 510 1st diffuser 512 2nd diffusion Plate 520 Light guide member 522 Rod cover 524 Cylinder 525 Through hole 530 Board 532 Board 600 Sensor unit

Claims (10)

A body with multiple rotors and
A housing arranged on the ceiling of the main body and having a portion that transmits light,
A light receiving element that functions as a light receiving part of the illuminance sensor and is arranged inside the housing.
A light guide member arranged inside the housing and guiding light transmitted through the portion to the light receiving element.
An air vehicle including an antenna arranged inside the housing and arranged so as to surround the light guide member. The antenna is a hollow antenna.
The flying object according to claim 1, wherein the light guide member is arranged in the cavity of the antenna. The flying object according to claim 2, wherein the antenna is a coiled antenna. The flying object according to any one of claims 1 to 3, further comprising a circuit for measuring the position of the flying object based on a signal received by the antenna. Further provided with a hollow cover covering the outer surface of the light guide member,
The flying object according to any one of claims 1 to 4, wherein the outer surface of the light guide member and the inner surface of the cover are separated from each other. With the plurality of light receiving elements,
With the plurality of the light guide members,
With multiple said covers,
The flying object is
The flying object according to claim 5, further comprising a holding member arranged inside the housing and holding the plurality of covers inside. The flying object according to claim 6, wherein the cover is a white member and the holding member is a black member. The flying object according to claim 7, wherein the holding member has a plurality of through holes for accommodating the plurality of covers. The light guide member has a rod shape and has a rod shape.
The flying object according to any one of claims 1 to 8 , wherein the central axis of the light receiving surface of the light receiving element and the central axis of the light guide member are on the same straight line. It ’s a sensor unit.
A housing having a portion having a first diffusing plate that transmits and diffuses light from the outside ,
A light receiving element that functions as a light receiving part of the illuminance sensor and is arranged inside the housing.
A light guide member arranged inside the housing and guiding light transmitted through the portion to the light receiving element.
An antenna arranged inside the housing and surrounding the light guide member ,
A second diffusing plate arranged between the light guide member and the light receiving element to diffuse light from the light guide member.
A sensor unit.

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